10.15660/AUOFMTE.2019-1.3424
S Alaci, R D Pentiuc, I Doroftei, F C Ciornei
stelian.alaci@usm.ro
Volume XXVIII, 2019/1
The equations which permit obtaining the displacements from kinematical pairs were deduced in the first part of the paper. An actual case is presented in the second part of the work, the method being applied for the generalized Cardan mechanism. In a first stage, the parameters required for the completion of the dual matrices from the dual matrix equation of closing the kinematical chain are identified. Next, the matrix equation which allow for finding the rotations and the translations, respectively, from the pairs, are identified. A special attention is assumed on establishing the rotations from the pairs. The dual matrix equation is split into two real matrix equations, corresponding to rotations and to the translational motions, respectively. The equation corresponding to the translations presents a complex form, but it is simplified by using some characteristics of the matrices. Additionally, this matrix equation is written under a form which allows for algorithmization. Finally, there are obtained the equations which describe the position of the mechanism - the same as in the classical approach.
ISSN 1583-0691, CNCSIS "Clasa B+"